Nguyễn Xuân Minh - MSSV : 1652382

CHAPTER 16: CONTROLLER DESIGN

Section 16.2:
16.1
a) From the problem, the gain setting Gu = 0.42 and the period of
oscillation Pu = 20
Then Kp = 0.6Gu = 0.6 x 0.42 = 0.252
Ki = 2.0/ Pu = 2.0/ 20 = 0.1 min^-1
Kd = Pu /8 = 20 / 8 = 2.5 min

b) From the problem, the gain setting Gu = 6.3 and the period of
oscillation Pu = 6
Then Kp = 0.6Gu = 0.6 x 6.3 = 3.78
Ki = 2.0/ Pu = 2.0/ 6 = 0.333 min^-1
Kd = Pu /8 = 6 / 8 = 0.75 min

c) From the problem, the gain setting Gu = 0.8 and the period of
oscillation Pu = 2
Then Kp = 0.6Gu = 0.6 x 0.8 = 0.48
Ki = 2.0/ Pu = 2.0/ 2 = 1 min^-1
Kd = Pu /8 = 2 / 8 = 0.25 min

d) From the problem, the gain setting Gu = 1.2 and the period of
oscillation Pu = 18
Then Kp = 0.6Gu = 0.6 x 1.2 = 0.72
Ki = 2.0/ Pu = 2.0/ 18 = 0.111 min^-1
Kd = Pu /8 = 18 / 8 = 2.25 min

e) From the problem, the gain setting Gu = 2.0 and the period of
oscillation Pu = 0.5
Then Kp = 0.6Gu = 0.6 x 2.0 = 1.2
Ki = 2.0/ Pu = 2.0/ 0.5 = 4 min^-1
Kd = Pu /8 = 0.5 / 8 = 0.0625 min

16.2
a) From the problem, the gain setting Gu = 0.42 and the period of
oscillation Pu = 20
PI control:
Ki = 1 / Pu = 1 / 20 = 0.05 min^-1

PID control:
Ki = 1.5/ Pu = 1.5 / 20 = 0.075 min^-1
Kd = Pu / 8 = 20 / 8 = 2.5 min^-1

b) From the problem, the gain setting Gu = 6.3 and the period of
oscillation Pu = 6
PI control:
Ki = 1 / Pu = 1 / 6 = 0.167 min^-1

PID control:
Ki = 1.5/ Pu = 1.5 / 6 = 0.25 min^-1
Kd = Pu / 8 = 6 / 8 = 0.75 min^-1

c) From the problem, the gain setting Gu = 0.8 and the period of
oscillation Pu = 2
PI control:
Ki = 1 / Pu = 1 / 2 = 0.5 min^-1

PID control:
 Ki = 1.5/ Pu = 1.5 / 2 = 0.75 min^-1
Kd = Pu / 8 = 2 / 8 = 0.25 min^-1

d) From the problem, the gain setting Gu = 1.2 and the period of
oscillation Pu = 18
PI control:
Ki = 1 / Pu = 1 / 18 = 0.056 min^-1

PID control:
Ki = 1.5/ Pu = 1.5 / 18 = 0.083 min^-1
Kd = Pu / 8 = 18 / 8 = 2.25 min^-1

e) From the problem, the gain setting Gu = 2.0 and the period of
oscillation Pu = 0.5
PI control:
Ki = 1 / Pu = 1 / 0.5 = 2 min^-1

PID control:
Ki = 1.5/ Pu = 1.5 / 0.5 = 3 min^-1
Kd = Pu / 8 = 0.5 / 8 = 0.0625 min^-1

Section 16.3:
16.3
Effective delay, L = 2 min
Delta t = 40 min
delta
N = delta Cm / delta t = ( 39.6 -20 ) / 40 = 0.49%/min

1. Proportional Integral control (PI)

Kp = 0.9 x [ delta P / ( N x L )] = 0.9 x [ 10 / ( 0.49 x 2) ] = 9.18
Ki = 0.3 / L = 0.3 / 2 = 0.15 min^-1

2. Proportional Integral Derivative control (PID)

Kp = 1.2 x [ delta P / ( N x L )] = 1.2 x [ 10 / ( 0.49 x 2 ) ] = 12.24
Ki = 0.5 / L = 0.5 / 2 = 0.25 min^-1
Kd = 0.5 x L = 0.5 x 2 = 1 min
Section 16.4
16.10
Mathlab: